CN105004282A - Depth data detecting device - Google Patents
Depth data detecting device Download PDFInfo
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- CN105004282A CN105004282A CN201510347816.6A CN201510347816A CN105004282A CN 105004282 A CN105004282 A CN 105004282A CN 201510347816 A CN201510347816 A CN 201510347816A CN 105004282 A CN105004282 A CN 105004282A
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Abstract
The invention discloses a depth data detecting device. An infrared coding projection system projects an infrared light beam provided with texture in order to form randomly-distributed infrared texture on an object to be detected. Two infrared image sensors generate images to form two infrared texture images. On the basis of a positional difference of texture fragment images correspondingly formed in the two infrared texture images by the same texture fragment in the infrared texture, the depth data, relative to the two infrared image sensors, of the infrared texture is determined. The infrared coding projection system comprises at least two infrared light generators, an optical system, and a controller. The at least two infrared light generators are used for generating infrared light. The infrared light generated by the infrared light generators forms an infrared light beam provided with texture after passing the optical system. The controller is used for controlling and switching the at least two infrared light generators in order that the at least two infrared light generators generate infrared light alternately. The infrared light generators operate alternately so that the service lives of the infrared light generators are prolonged.
Description
Technical field
The present invention relates to three-dimensional values field, specifically, relate to a kind of depth data pick-up unit.
Background technology
Three-dimensional information also can claim depth information or depth of view information.Traditional image capturing method can only obtain the two-dimensional signal of object, the spatial depth information of object cannot be obtained, but the Real-time Obtaining of the in fact spatial depth information of body surface, especially depth information all plays vital effect in various industry, life and entertainment applications.
Current existing depth information measurement mechanism mainly structure based light detect three-dimensional measuring apparatus.Briefly, first to the two-dimensional laser textured pattern of body surface transmission with coded message, the speckle pattern of such as discretize, then by the image collecting device that another location is fixing, continuous acquisition is carried out to laser texture, finally the reference surface texture sequence of collection result with the known depth distance be stored in advance in register is compared, calculate the depth distance of each laser texture sequence being incident upon body surface, obtain the depth data on examined object surface further.This device can measure the depth information of object accurately, but on the one hand because the relative position of laser instrument and image collecting device needs to be calibrated by multi collect reference surface, because laser instrument is consumption-type device, so once laser instrument is damaged and after changing, need the relative position calibration again to laser instrument and image collecting device, increase cost of equipment maintenance.On the other hand, this equipment adopts single laser works, when long-time continuous is measured, laser ageing can be accelerated, make it can not reach laser instrument normal serviceable life (in general, the serviceable life of laser instrument is 1 to 2 ten thousand hours) far away, thus shorten the serviceable life of equipment, increase cost of equipment maintenance, reduce the feasibility of depth data checkout equipment in field application such as safety monitorings.
Therefore, need badly a kind of when continuous non-stop run, the depth data pick-up unit of the normal service life of laser instrument can be reached as far as possible.
Summary of the invention
A technical matters to be solved by this invention is to provide a kind of when continuous non-stop run, can reach the depth data pick-up unit of the normal service life of infrared light generator as far as possible.
According to an aspect of the present invention, disclose a kind of depth data pick-up unit, comprising:
Infrared coding optical projection system, for the veined infrared beam of projection band in detected space, the examined object in detected space to be formed the infrared texture of stochastic distribution;
Two infrared image sensors, for respectively to detected space imaging, thus form two infrared texture images, between two infrared image sensors, there is predetermined relative tertiary location relation, thus make it possible to the position difference of the texture fragment image formed accordingly in two infrared texture images based on texture fragment same in described infrared texture and predetermined relative tertiary location relation, determine the depth data of infrared texture relative to two infrared image sensors
Infrared coding optical projection system comprises:
At least two infrared light generators, for producing infrared light respectively;
Optical system, the infrared light that infrared light generator produces forms the veined infrared beam of band after optical system;
Controller, for controlling and switching at least two infrared light generators, alternately produces infrared light to make at least two infrared light generators.
Thus, laser instrument alternation is realized by switching two infrared emittances, to increase the time of each infrared light generator off-position, both meet the continuous non-stop run of equipment, and make again each infrared light generator can reach its serviceable life as far as possible.
Preferably, infrared light generator produces infrared light with predetermined glow frequency,
Infrared image sensor with predetermined frame frequency imaging, and
The glow frequency of infrared light generator is greater than the frame frequency of described infrared image sensor.
Like this, the light that infrared photoproduction device sends is relative to the light source imageing sensor being constant light emitting, and the image that sensor collects there will not be the situation of the image quality instability such as striped.
Preferably, the glow frequency of infrared light generator is more than 100HZ.
Like this, the light that infrared photoproduction device can be made to send is relative to the light source closer to constant light emitting imageing sensor.
Preferably, the glow frequency of infrared light generator is the integral multiple of the frame frequency of described infrared image sensor.
Like this, for the synchronism of infrared light generator and imageing sensor work provides condition.
Preferably, each continuous working period of each infrared light generator covers multiple frame periods of described infrared image sensor.
Like this, ensure that imageing sensor can gather complete infrared coding pattern and can increase the power-off time of the infrared light generator be in alternation in the picture of a frame, slow down the aging action because the caused device heating that works long hours causes infrared light generator.
Preferably, when being switched to the second infrared light generator from the first infrared light generator at least two infrared light generators, the energising of the second infrared light generator is synchronous for start-up time with the exposure of described imageing sensor to a new two field picture for start-up time.
Like this, ensure that imageing sensor can gather the complete infrared coding pattern of different infrared light generators in the picture of each frame, interference can not be caused to measurement result.
Preferably, also comprise:
Trigger, for sending trigger pip to two infrared image sensors, senses to trigger two infrared image sensors,
Controller switches by sending switching signal to described first infrared light generator and described second infrared light generator, luminescence is stopped in response to switching signal to make the first infrared light generator, second infrared light generator starts luminescence in response to described switching signal
Wherein, switching signal is synchronous with trigger pip.
Like this, make infrared emittance when switch operating by controller and trigger, infrared image sensor starts sensing, make the synchronism of infrared image sensor and infrared light generator work, and then ensure that imageing sensor can gather complete infrared coding pattern in the picture of a frame.
Preferably, also comprise:
Failure detector, for detecting the infrared light generator whether existing at least two infrared light generators and break down,
The infrared light generator periodic duty sequence be made up of described at least two infrared light generators safeguarded by controller, and described controller switches described infrared light generator work successively according to described infrared light generator periodic duty sequence,
When failure detector detects the infrared light generator broken down, controller delete in described infrared light generator periodic duty sequence described in the infrared light generator that breaks down, and start the next infrared light generator in infrared light generator periodic duty sequence.
Like this, the duty of infrared emittance can be detected in real time by failure detector, and in time the infrared emittance broken down be rejected, lifting means job stability, reduce the probability of happening occurring non-continuous acquisition three-dimensional information situation.
Preferably, failure detector comprises:
Whether infrared light detection device, exist the veined infrared beam of band for detecting in detected space,
Wherein, the infrared light generator controlled at least two infrared light generators at controller produces infrared light, and when infrared light detection device does not detect described band veined infrared beam, is considered as this infrared light generator and breaks down.
Like this, the infrared light generator broken down can effectively be detected by infrared light detection device.
Preferably, failure detector the infrared light generator broken down detected after after predetermined amount of time, the infrared light generator broken down described in controller starts, failure detector again detects this infrared light generator and whether still there is fault,
Determine that this infrared light generator is no longer deposited in the case of a fault at failure detector through again detecting, controller lists this infrared light generator in described periodic duty sequence again.
Like this, avoid because accidentalia causes some infrared light generator that can also drop into application to be stopped its work by as faulty item.
Preferably, also comprise:
Trouble Report device, is connected to failure detector, for all determining that this infrared light generator is deposited in the case of a fault at failure detector through repeatedly again detecting, reports that this infrared light generator damages.
Like this, can be known the infrared light generator breaking down and need repairing by Trouble Report device, convenient for maintaining personnel keep in repair.
Preferably, also comprise:
Warning device, when there is fault for each infrared light generator at least two infrared light generators described in determining at failure detector, gives the alarm.
Like this, when alarm activation, show that equipment can not continue to use, remind staff to carry out repair and replacement.
Preferably, described infrared light generator is infra-red laser diode.
Select the life-span is long, volume is little infra-red laser diode can the whole service life of extension device.
To sum up, the present invention realizes uninterruptedly providing structured light by switching two infrared emittances, and the continuous non-stop run of the equipment that both met makes again red generator reach normal service life, thus expands the application of equipment.
Accompanying drawing explanation
In conjunction with the drawings disclosure illustrative embodiments is described in more detail, above-mentioned and other object of the present disclosure, Characteristics and advantages will become more obvious, wherein, in disclosure illustrative embodiments, identical reference number represents same parts usually.
Fig. 1 is the schematic block diagram of depth information pick-up unit according to an embodiment of the invention;
Fig. 2 is the frame frequency sequence diagram of two infrared image sensors;
Fig. 3 is the schematic block diagram of infrared coding optical projection system according to an embodiment of the invention;
Fig. 4 is the frame frequency sequence of two infrared image sensors and the work sequence schematic diagram of infrared light generator;
Fig. 5 is one of depth information pick-up unit schematic block diagram in accordance with another embodiment of the present invention;
Fig. 6 is the schematic block diagram of infrared coding optical projection system in accordance with another embodiment of the present invention;
Fig. 7 is the schematic block diagram of failure detector according to an embodiment of the invention;
Fig. 8 is the schematic block diagram of the infrared coding optical projection system according to another embodiment of the present invention.
Fig. 9 is the schematic block diagram of the infrared coding optical projection system according to another embodiment of the present invention.
In figure, the concrete meaning of correlation indices is:
1, depth data pick-up unit;
10, the first infrared image sensor;
20, the second infrared image sensor;
30, infrared coding optical projection system;
40, trigger;
310, the first infrared light generator;
320, the second infrared light generator;
330, controller;
340, optical system;
350, failure detector;
3500, infrared light detection device;
360, Trouble Report device;
370, warning device.
Embodiment
Below with reference to accompanying drawings preferred implementation of the present disclosure is described in more detail.Although show preferred implementation of the present disclosure in accompanying drawing, but should be appreciated that, the disclosure can be realized in a variety of manners and not should limit by the embodiment of setting forth here.On the contrary, provide these embodiments to be to make the disclosure more thorough and complete, and the scope of the present disclosure intactly can be conveyed to those skilled in the art.
For the ease of understanding the present invention better, first brief description is done to the principle of work of depth data pick-up unit of the present invention.
The present invention adopts auxiliary laser to the random grain of the body surface transmission in space with coded message, and by two imageing sensors being spatially in diverse location, the laser code image that body surface reflects is caught in real time, by comparing the parallax of same position coding in image that synchronization diverse location catches, the depth information of this position can be calculated in real time.
Fig. 1 is depth information pick-up unit schematic block diagram according to an embodiment of the invention, and as shown in Figure 1, depth data pick-up unit 1 comprises the first infrared image sensor 10 and the second infrared image sensor 20 and infrared coding optical projection system 30.
Wherein, infrared coding optical projection system 30 is for being with veined infrared beam, the examined object in detected space to be formed the infrared texture of stochastic distribution to detected space projection.
Between first infrared image sensor 10 and the second infrared image sensor 20, there is predetermined relative tertiary location relation and the first infrared image sensor 10 and the second infrared image sensor 20 for respectively to detected space imaging, due to examined object having infrared texture, thus the first infrared image sensor 10 and the second infrared image sensor be imaged as two infrared texture images.
The position difference of texture fragment image formed accordingly in two infrared texture images based on texture fragment same in infrared texture in detected space and the predetermined relative tertiary location relation between the first infrared image sensor 10 and the second infrared image sensor 20, can determine the depth data of this infrared texture relative to two infrared image sensors.
Such as, when infrared texture is discrete light beams, discrete light beams is radiated at object under test surface and forms discrete light spot, now, first infrared image sensor 10 and the 20 pairs of detected space imagings of the second infrared image sensor, obtain discrete light spot image, based on the predetermined relative tertiary location between the position difference of the hot spot formed accordingly in the discrete infrared image that the same discrete light spot on object under test surface obtains at two infrared image sensors and two infrared image sensors, just can determine that this hot spot corresponds to the depth data of two infrared image sensors, namely the depth data on object under test surface, hot spot place is determined, then the depth data of object under test can be known by multiple discrete light spot.
Wherein, when two infrared image sensors are captured as picture continuously to detected space.Two infrared image sensors can also can asynchronously be caught in synchronization acquistion.
During two infrared image sensor synchronization acquistion, the image collected can describe the environmental change of synchronization, asynchronous when catching, the iamge description collected be not environmental change in the same time, when now carrying out depth data analysis detection by asynchronous image of catching, result has deviation, measures this problem of depth of field deviation, the mode of dynamic compensation can be adopted to solve for asynchronous imageing sensor.
Therefore the working method of preferably two infrared image sensor synchronization acquistions in actual measurement.
Frame frequency sequence diagram when Fig. 2 is two infrared image sensor synchronization acquistion, wherein, A represents the frame frequency sequence of the first infrared image generator 10, and B represents the frame frequency sequence of the second infrared image generator 20, and wherein frame frequency refers to the quantity of the frame that imageing sensor is caught p.s. or image.
Fig. 3 is the schematic block diagram of the structure of infrared coding optical projection system in Fig. 1, and as shown in Figure 3, infrared coding optical projection system 30 comprises the first infrared light generator 310, second infrared light generator 320, optical system 340 and controller 330.
First infrared light generator 310 and the second infrared light generator 320 are used for producing infrared light, and such as the first infrared light generator 310 and the second infrared light generator 320 can adopt infra-red laser diode to produce infrared light.
Optical system 340 is used for the photogenerated that the first infrared light generator 310 and the second infrared light generator 320 the produced light beam with texture information, optical system 340 can be used existing process technology to design and process different random grains, and such as texture can be discrete light beams.
Adopt discrete light beams for texture below, the projection process of infrared coding optical projection system 30 of the present invention is elaborated.
Optical system 340 in infrared coding optical projection system 30 is for carrying out beam splitting to the light of the first infrared light generator 310 and the second infrared light generator 320 outgoing, now, first infrared light generator 310 and the second infrared light generator 320 can carry out beam splitting by an optical system, also two optical system beam splitting can be passed through, optical system 340 can be designed to the optical element that laser light scattering can be become random hot spot by such as diffraction grating etc., in addition, also can adopt the beam splitter be made up of diffraction element, as quartz glass, polycarbonate etc., by carrying out nanometer etching or impression processing on its surface, it is made to carry out directional scattering to the laser beam of projection, like this, the infrared light that first infrared light generator 310 and the second infrared light generator 320 produce forms infrared discrete light beams and projects detected space after the beam splitting effect of optical system 340.
Adopt infra-red laser diode, optical system to adopt beam splitter for the first infrared light generator 310 and the second infrared light generator 320 below, brief description is done to the projection process of infrared light.
Infra-red laser diode is for launching infrared laser beam, and the infrared laser beam of transmitting is divided into multiple laser bundle under the effect of beam splitter, is irradiated to detected space, the examined object in detected space to be formed multiple discrete infrared light spot.
Controller 330 is for controlling and switching the duty of the first infrared light generator 310 and the second infrared light generator 320, alternately infrared light is produced to make two infrared light generators, specifically, controller 330 is by sending switching signal to switch to the first infrared light generator 310 and the second infrared light generator 320, to make the first infrared light generator 310 stop luminescence in response to switching signal, the second infrared light generator 320 starts luminescence in response to switching signal.
Like this under the control action of controller 330, first infrared light generator 310 and the second infrared light generator 320 alternation, with only use compared with an infrared light generator, the overload state of infrared light generator running hours can be lowered, increase the power-off time of infrared light generator, thus make the working time of two infrared light generators can reach its life-span as much as possible, thus reduce cost of equipment maintenance, expand the application of equipment.
In addition, it should be noted that, the quantity of infrared light generator shown in Fig. 3 is just in order to explain the present invention better; but not limitation of the present invention; based on principle of the present invention, the quantity of infrared light generator also can be 3,4 ... etc., it all should in the scope of protection of the invention.
Also it is pointed out that existing three-dimensional values technology carries out continuous acquisition by single imaging device to the laser texture of detected material surface, then compare with the reference picture prestored, thus draw the three-dimensional data of object.Multiple stage device for projecting laser can not change use.Because when the laser projection of two or multiple devices has overlapping time, the laser texture that image collecting device is caught is different from the reference surface data texturing of initial alignment, images match failure can be there is, thus correctly cannot calculate the three-dimensional data of subject surface to be measured.
And the present invention is the random infrared texture of employing two infrared image sensors to detected material surface detects, predetermined relative tertiary location relation between the position difference of the texture fragment image formed accordingly in two infrared texture images based on texture fragment same in infrared texture and two infrared image sensors, determines the three-dimensional data of infrared texture relative to two infrared image sensors.
Therefore, the infrared texture of the stochastic distribution formed on examined object surface that mid-infrared light generator of the present invention sends just is used as recognition reaction, do not need to compare with the reference picture prestored, as long as each texture fragment can be distinguished from the infrared texture of stochastic distribution, so the present invention is not strict to the status requirement of infrared light generator, in general, the spatial relationship of infrared light generator and the first infrared image sensor second infrared image sensor can be arbitrary, as long as meet infrared laser generator covers the first imageing sensor and the second imageing sensor completely public view field through the projection in zone of optical system.
In actual grade surveying work, can encode to random infrared texture, namely the random infrared texture of detected space is projected with coded message, because the installation site of different infrared light generators is different, therefore, when different infrared light generators works, the infrared coding that imageing sensor captures is also different, in order to post-processed is convenient, imageing sensor needs to gather complete infrared coding pattern at the picture of a frame, therefore imageing sensor and infrared light generator synchronous working is preferably made, that is, when different infrared light generator duty switches, all at the new image exposure of imageing sensor at first.
When two imageing sensors are caught asynchronous, preferably, make the glow frequency of infrared light generator be respectively the integral multiple of two image sensor, the glow frequency of infrared light generator also can be made to be the integral multiple of one of them imageing sensor.
Therefore, the glow frequency of infrared light generator is greater than the frame frequency of imageing sensor, and is the integral multiple of the frame frequency of imageing sensor.
When Fig. 4 is two imageing sensor synchronization acquistion, the frame frequency sequence of two infrared image sensors and the work sequence schematic diagram of infrared light generator, wherein, A represents the frame frequency sequence of the first infrared image generator 10, B represents the frame frequency sequence of the second infrared image generator 20, L represents the glow frequency sequence of infrared light generator, glow frequency can regard the light pulse number sent in the infrared light generator unit interval as, LD1 and LD2 represents two infrared light generator alternations, and the glow frequency of each infrared light generator is greater than the frame frequency of imageing sensor, and be the integral multiple of the frame frequency of imageing sensor.
Wherein, the ratio of the glow frequency of infrared light generator and the frame frequency of imageing sensor is the bigger the better, if this is because glow frequency proximity transducer frequency, the image that sensor collects just there will be the unstable situation of the image quality such as striped; If much larger than sensor frequency, lasing fluorescence relative sensors is the light source of constant light emitting, flicker would not be there is, the image quality of the image collected is more stable, thus the precision of depth data detection can be promoted, usually, the frame frequency of imageing sensor is about 30HZ, therefore in reality detects, the glow frequency of infrared light generator can be set to more than 100HZ, fully can ensure that lasing fluorescence relative sensors is the light source of constant light emitting like this.
In order to reduce frequently to open in actual detection, close the damage caused infrared light generator, the each continuous working period of each described infrared light generator is made to cover multiple frame periods of described infrared image sensor, frame period, namely infrared image sensor measured a two field picture required time with frame frequency is corresponding above.
Fig. 5 is depth information pick-up unit schematic block diagram in accordance with another embodiment of the present invention, compared to Figure 1, add trigger 40, trigger 40 is for sending trigger pip to two infrared image sensors, imaging is carried out to trigger two infrared image sensors, wherein, switching signal and trigger pip are together.
Like this by ensureing the switching signal synchronism that can realize imageing sensor and infrared light generator work synchronous with described trigger pip, wherein, trigger pip and switching signal synchronous by but be not limited to synchronizer trigger realization.
In use, if certain infrared light generator breaks down, at this infrared light generator duration of work, will certainly the catching of frame picture of effect diagram image-position sensor, and then the measurement of influence depth data, therefore also need a kind of device can tackling infrared light generator generation catastrophic failure.
Based on above-mentioned consideration, Fig. 6 is the schematic block diagram of the infrared coding optical projection system of another embodiment of the present invention, compared to Figure 1, depth data pick-up unit of the present invention also comprises failure detector 350, for detecting in infrared light generator whether there is fault.
When failure detector 350 detects the infrared light generator broken down, controller 330 deletes the infrared light generator broken down in infrared light generator periodic duty sequence, and starts the next infrared light generator in infrared light generator periodic duty sequence.
Like this, the infrared light generator broken down can be made to quit work, and ensure there is in running order infrared light generator any time, avoid occurring the illumination neutral gear phase, cause equipment normally cannot detect the situation of the degree of depth.
Fig. 7 is the schematic block diagram of failure detector, and as shown in Figure 7, failure detector comprises infrared light detection device 3500, whether there is the veined infrared beam of band for detecting in detected space.
The infrared light generator controlled at least two infrared light generators at controller produces infrared light, and when infrared light detection device does not detect with texture infrared beam, is considered as this infrared light generator and breaks down.
Consider that a period of time recovers normal situation automatically after a failure because accidentalia causes detection error or infrared light generator, failure detector is after the infrared light generator broken down being detected after predetermined amount of time, controller starts the infrared light generator broken down, now, failure detector again detects this infrared light generator and whether still there is fault
Determine that this infrared light generator is no longer deposited in the case of a fault at failure detector through again detecting, controller lists this infrared light generator in described periodic duty sequence again.
Fig. 8 is the schematic diagram of infrared coding optical projection system in accordance with another embodiment of the present invention, and compared with Fig. 7, also comprise Trouble Report device 360, Trouble Report device 360 is connected with failure detector 350.
All determine that certain infrared light generator is deposited in the case of a fault at failure detector 350 through repeatedly again detecting, Trouble Report device 360 reports that this infrared light generator damages.
Timely the infrared light generator of damage can be reported to user like this, be convenient to subsequent maintenance.
Wherein, Trouble Report device 360 can with form reports such as sound, word, LED displays.
Fig. 9 is the schematic block diagram of infrared coding optical projection system in accordance with another embodiment of the present invention, also warning device 370 can be set, for when failure detector 350 determines that all infrared light generators all exist fault, give the alarm, reminding user termination detection, to keep in repair.
Above be described in detail with reference to the attached drawings depth data pick-up unit of the present invention.
In addition, it should be noted that process flow diagram in accompanying drawing and block diagram show the architectural framework in the cards of the system and method according to multiple embodiment of the present invention, function and operation.In this, each square frame in process flow diagram or block diagram can represent a part for module, program segment or a code, and a part for described module, program segment or code comprises one or more executable instruction for realizing the logic function specified.Also it should be noted that at some as in the realization of replacing, the function marked in square frame also can be different from occurring in sequence of marking in accompanying drawing.Such as, in fact two continuous print square frames can perform substantially concurrently, and they also can perform by contrary order sometimes, and this determines according to involved function.Also it should be noted that, the combination of the square frame in each square frame in block diagram and/or process flow diagram and block diagram and/or process flow diagram, can realize by the special hardware based system of the function put rules into practice or operation, or can realize with the combination of specialized hardware and computer instruction.
Be described above various embodiments of the present invention, above-mentioned explanation is exemplary, and non-exclusive, and be also not limited to disclosed each embodiment.When not departing from the scope and spirit of illustrated each embodiment, many modifications and changes are all apparent for those skilled in the art.The selection of term used herein, is intended to explain best the principle of each embodiment, practical application or the improvement to the technology in market, or makes other those of ordinary skill of the art can understand each embodiment disclosed herein.
Claims (13)
1. a depth data pick-up unit, comprising:
Infrared coding optical projection system, for the veined infrared beam of detected space projection band, the examined object in detected space to be formed the infrared texture of stochastic distribution;
Two infrared image sensors, for respectively to described detected space imaging, thus form two infrared texture images, between described two infrared image sensors, there is predetermined relative tertiary location relation, thus make it possible to the position difference of the texture fragment image formed accordingly in described two infrared texture images based on texture fragment same in described infrared texture and described predetermined relative tertiary location relation, determine the depth data of described infrared texture relative to described two infrared image sensors
Described infrared coding optical projection system comprises:
At least two infrared light generators, for producing infrared light respectively;
Optical system, the infrared light that described infrared light generator produces forms the veined infrared beam of described band after described optical system;
Controller, for controlling and at least two infrared light generators described in switching, alternately produces infrared light with at least two infrared light generators described in making.
2. depth data pick-up unit according to claim 1, wherein,
Described infrared light generator produces infrared light with predetermined glow frequency,
Described infrared image sensor with predetermined frame frequency imaging, and
The glow frequency of described infrared light generator is greater than the frame frequency of described infrared image sensor.
3. depth data pick-up unit according to claim 2, wherein,
The glow frequency of described infrared light generator is more than 100HZ.
4. depth data pick-up unit according to claim 3, wherein,
The glow frequency of described infrared light generator is the integral multiple of the frame frequency of described infrared image sensor.
5. depth data pick-up unit according to claim 2, wherein,
The each continuous working period of each described infrared light generator covers multiple frame periods of described infrared image sensor.
6. depth data pick-up unit according to claim 1, wherein,
When being switched to the second infrared light generator from the first infrared light generator in described at least two infrared light generators, the energising of described second infrared light generator is synchronous for start-up time with the exposure of described imageing sensor to a new two field picture for start-up time.
7. depth data pick-up unit according to claim 6, also comprises:
Trigger, for sending trigger pip to described two infrared image sensors, carries out imaging to trigger described two infrared image sensors,
Described controller switches by sending switching signal to described first infrared light generator and described second infrared light generator, luminescence is stopped in response to described switching signal to make described first infrared light generator, described second infrared light generator starts luminescence in response to described switching signal
Wherein, described switching signal is synchronous with described trigger pip.
8. depth data pick-up unit according to claim 1, also comprises:
Failure detector, for whether there is the infrared light generator broken down at least two infrared light generators described in detecting,
The infrared light generator periodic duty sequence be made up of described at least two infrared light generators safeguarded by described controller, and described controller switches described infrared light generator work successively according to described infrared light generator periodic duty sequence,
When described failure detector detects the infrared light generator broken down, described controller delete in described infrared light generator periodic duty sequence described in the infrared light generator that breaks down, and start the next infrared light generator in described infrared light generator periodic duty sequence.
9. depth data pick-up unit according to claim 8, wherein, described failure detector comprises:
Whether infrared light detection device, exist the veined infrared beam of described band for detecting in detected space,
Wherein, an infrared light generator at least two infrared light generators described in controlling at described controller produces infrared light, and described infrared light detection device is not when the veined infrared beam of described band being detected, is considered as this infrared light generator and breaks down.
10. depth data pick-up unit according to claim 8, wherein,
Described failure detector the infrared light generator broken down detected after after predetermined amount of time, the infrared light generator broken down described in described controller starts, described failure detector again detects this infrared light generator and whether still there is fault,
Determine that this infrared light generator is no longer deposited in the case of a fault at described failure detector through again detecting, described controller lists this infrared light generator in described periodic duty sequence again.
11. depth data pick-up units according to claim 10, also comprise:
Trouble Report device, is connected to described failure detector, for all determining that this infrared light generator is deposited in the case of a fault at described failure detector through repeatedly again detecting, reports that this infrared light generator damages.
12. depth data pick-up units according to claim 8, also comprise:
Warning device, when there is fault for each infrared light generator at least two infrared light generators described in determining at described failure detector, gives the alarm.
13. according to the depth data pick-up unit in claim 1 to 12 described in any one, and wherein, described infrared light generator is infra-red laser diode.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510347816.6A CN105004282B (en) | 2015-06-19 | 2015-06-19 | Depth data detection means |
| US15/737,342 US10368056B2 (en) | 2015-06-19 | 2016-06-17 | Depth data detection and monitoring apparatus |
| KR1020187000703A KR102056015B1 (en) | 2015-06-19 | 2016-06-17 | Depth Data Detection Device and Monitoring Device |
| PCT/CN2016/086237 WO2016202295A1 (en) | 2015-06-19 | 2016-06-17 | Deep data detection device and monitoring device |
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| CN201510347816.6A CN105004282B (en) | 2015-06-19 | 2015-06-19 | Depth data detection means |
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| CN105004282A true CN105004282A (en) | 2015-10-28 |
| CN105004282B CN105004282B (en) | 2018-01-16 |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105357511A (en) * | 2015-12-08 | 2016-02-24 | 上海图漾信息科技有限公司 | Depth data detection system |
| CN105554470A (en) * | 2016-01-16 | 2016-05-04 | 上海图漾信息科技有限公司 | Depth data monitoring system |
| WO2016202295A1 (en) * | 2015-06-19 | 2016-12-22 | 上海图漾信息科技有限公司 | Deep data detection device and monitoring device |
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